PWM 제어
#include <avr/io.h>
#include <stdio.h>
#include <avr/delay.h>
#define F_CPU 3333333
#define BAUD_RATE 9600
#define _ADC0_CTRLA (unsigned char *)(0x0600)
#define _ADC0_CTRLA (unsigned char *)(0x0600)
#define _ADC0_MUXPOS (unsigned char *)(0x0606)
#define _ADC0_COMMAND (unsigned char *)(0x0608)
#define _ADC0_RES (unsigned char *)(0x0610)
#define _ADC_RESSEL_10BIT_gc (0x01<<0)
#define _ADC_ENABLE_bm (0x01)
#define _ADC_STCONV_bm (0x01)
#define PORTC (unsigned char *)(0x0440)
#define PORTC_DIR (unsigned char *)(0x0440)
#define PORTC_DIRSET (unsigned char *)(0x0441)
#define PORTC_DIRCLR (unsigned char *)(0x0442)
#define PORTC_OUT (unsigned char *)(0x0444)
#define PORTC_OUTSET (unsigned char *)(0x0445)
#define PORTC_OUTCLR (unsigned char *)(0x0446)
#define PORTC_IN (unsigned char *)(0x0448)
#define USART0_BAUD_RATE(BAUD_RATE) ((float)(F_CPU * 64 / (16 * (float)BAUD_RATE)) + 0.5)
#define PIN(N) (1<<N)
void ADC_init(void);
uint16_t ADC_read(int ch);
void USART3_init(void);
void USART3_Transmit(unsigned char);
int USART3_printChar(char, FILE *stream);
FILE USART_stream = FDEV_SETUP_STREAM(USART3_printChar, NULL, _FDEV_SETUP_WRITE);
void USART3_init(void){
PORTB_DIR |= PIN(0);
PORTB_DIR &= ~PIN(1);
USART3_BAUD = (uint16_t)USART0_BAUD_RATE(BAUD_RATE);
USART3_CTRLB |= USART_TXEN_bm | USART_RXEN_bm;
}
int USART3_printChar(char c, FILE *stream){
USART3_Transmit(c);
return 0;
}
void USART3_Transmit(unsigned char data){
while(!((USART3_STATUS)&USART_DREIF_bm));
USART3_TXDATAL = data;
}
void ADC_init(void){
PORTD_PIN0CTRL = PORT_ISC_INPUT_DISABLE_gc;
ADC0_CTRLA = ADC_RESSEL_10BIT_gc;
ADC0_CTRLC |= ADC_REFSEL_VDDREF_gc;
ADC0_CTRLA |= ADC_ENABLE_bm | ADC_FREERUN_bm;
}
uint16_t ADC_read(int ch){
ADC0_MUXPOS = ch;
ADC0_COMMAND |= ADC_STCONV_bm;
while(!(ADC0_COMMAND) & ADC_STCONV_bm);
return (uint16_t)ADC0_RES;
}
uint8_t motor_speed(int Y){
if(Y >= 492 && Y <= 532){
TCB0_CCMPH = 0;
}
else if((Y >= 533 && Y <= 631) || (Y >= 394 && Y <= 492)){
TCB0_CCMPH = 32;
}
else if((Y >= 632 && Y <= 730) || (Y >= 295 && Y <= 393)){
TCB0_CCMPH = 64;
}
else if((Y >= 731 && Y <= 829) || (Y >= 196 && Y <= 294)){
TCB0_CCMPH = 128;
}
else if((Y >= 830 && Y <= 928) || (Y >= 98 && Y <= 195)){
TCB0_CCMPH = 192;
}
else if((Y >= 929 && Y <= 1023) || (Y >= 0 && Y <= 97)){
TCB0_CCMPH = 255;
}
return TCB0_CCMPH;
}
int main(void)
{
USART3_init();
ADC_init();
stdout = &USART_stream;
// 포트A의 2번 핀을 출력 핀으로 설정
PORTA_DIR |= PIN2_bm;
PORTA_OUT |= PIN2_bm;
TCB0_CTRLA |= TCB_ENABLE_bm // TCB enable
| TCB_CLKSEL_CLKDIV2_gc; // (Clock 속도 / 2)
TCB0_CTRLB |= TCB_CCMPEN_bm // Compare mode enable
| TCB_CNTMODE_PWM8_gc; // 8bit PWM Mode
TCB0_CCMPL = 0xFF; // Period 설정
TCB0_CCMPH = 0xFF; // Duty 설정
*PORTC_DIRSET = PIN(2) | PIN(3) | PIN(4) | PIN(5);
int X_value = ADC_read(0);
_delay_ms(10);
int Y_value = ADC_read(1);
while (1)
{
int X_value = ADC_read(0);
_delay_ms(10);
int Y_value = ADC_read(1);
printf("X value : %d \\t Y value : %d \\n\\r", X_value, Y_value);
// 좌측 모터 순방향 : PIN5 , 좌측 모터 역방향 : PIN4
// 우측 모터 순방향 : PIN2 , 우측 모터 역방향 : PIN3
if(Y_value >= 492 && Y_value <= 532){
if(X_value >= 467 && X_value <= 506){
motor_speed(Y_value);
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5)));
printf("stop\\n\\r");
}
else if(X_value >= 507 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(3) | PIN(4);
printf("Right\\n\\r");
}
else if(X_value <= 466 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(2) | PIN(5);
printf("Left\\n\\r");
}
_delay_ms(10);
}
else if(Y_value >= 533){
if(X_value >= 467 && X_value <= 506){
motor_speed(Y_value);
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(2) | PIN(4);
printf("drive\\n\\r");
}
else if(X_value >= 507 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(3) | PIN(4);
printf("Right\\n\\r");
}
else if(X_value <= 466 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(2) | PIN(5);
printf("Left\\n\\r");
}
_delay_ms(10);
}
else if(Y_value <= 491){
if(X_value >= 467 && X_value <= 506){
motor_speed(Y_value);
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(3) | PIN(5);
printf("reverse\\n\\r");
}
else if(X_value >= 507 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(3) | PIN(4);
printf("Right\\n\\r");
}
else if(X_value <= 466 ){
TCB0_CCMPH = 192;
*PORTC_OUT = (*PORTC_OUT & ~(PIN(2) | PIN(3) | PIN(4) | PIN(5))) | PIN(2) | PIN(5);
printf("Left\\n\\r");
}
_delay_ms(10);
}
_delay_ms(300);
}
}